CN110930422B - Object outer frame determining method and device, computer equipment and readable storage medium - Google Patents
Object outer frame determining method and device, computer equipment and readable storage medium Download PDFInfo
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Abstract
The application relates to a method and a device for determining an outer frame of an object, computer equipment and a readable storage medium. The method comprises the following steps: projecting the point cloud data of the object to a two-dimensional coordinate plane to obtain two-dimensional data points of the object; determining the main direction of the object according to the two-dimensional data points; acquiring first edge projection points of two-dimensional data points projected onto two vertical lines, wherein the direction of each vertical line is vertical to the main direction, and each two-dimensional data point is positioned on the two vertical lines or between the two vertical lines; and determining the outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data. Through considering the principal direction of object at two-dimensional plane, only need with two-dimentional data point projection to perpendicular with the principal direction, and make two-dimentional data point all be located two plumbs or between the plumb line, can confirm the leading feature data of frame fast according to first edge projection point and third dimensional data on the plumb line to obtain the frame of object, effectively improved the definite efficiency of object frame.
Description
Technical Field
The present application relates to the field of object positioning technologies, and in particular, to a method and an apparatus for determining an outer frame of an object, a computer device, and a readable storage medium.
Background
With the development of science and technology, the application of intelligent devices is more and more extensive, and in order to improve the self-adaptive performance of intelligent devices, the intelligent devices usually need to automatically detect and locate peripheral objects. Taking an intelligent automobile as an example, in the driving process, the intelligent automobile needs to automatically detect and identify surrounding obstacles, and an outer frame surrounding the obstacles is extracted according to detection data so as to automatically avoid the obstacles based on the outer frame or timely remind a driver to change a driving strategy, thereby reducing the danger of vehicle driving.
However, in the existing method for determining the outer frame of the object, the convex hull needs to be extracted according to the point cloud data of the object, and then each edge of the convex hull needs to be traversed and analyzed to determine the outer frame of the object.
Disclosure of Invention
In view of the above, it is necessary to provide an object outer frame determining method, an object outer frame determining apparatus, a computer device, and a readable storage medium, which can improve the object outer frame determining efficiency.
A method for determining an outer frame of an object, the method comprising:
projecting the point cloud data of the object to a two-dimensional coordinate plane to obtain a two-dimensional data point of the object;
determining a principal direction of the object from the two-dimensional data points;
acquiring first edge projection points of the two-dimensional data points projected onto two vertical lines, wherein the direction of each vertical line is perpendicular to the main direction, and each two-dimensional data point is located on the two vertical lines or between the two vertical lines;
and determining the outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data.
An object casing determination apparatus, the apparatus comprising:
the two-dimensional projection module is used for projecting the point cloud data of the object to a two-dimensional coordinate plane to obtain two-dimensional data points of the object;
the main direction determining module is used for determining the main direction of the object according to the two-dimensional data points;
a data point projection module, configured to obtain a first edge projection point at which the two-dimensional data points are projected onto two perpendicular lines, where a direction of each perpendicular line is perpendicular to the main direction, and each two-dimensional data point is located on the two perpendicular lines or between the two perpendicular lines;
and the outer frame determining module is used for determining the outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
projecting the point cloud data of the object to a two-dimensional coordinate plane to obtain a two-dimensional data point of the object;
determining a principal direction of the object from the two-dimensional data points;
acquiring first edge projection points of the two-dimensional data points projected onto two vertical lines, wherein the direction of each vertical line is perpendicular to the main direction, and each two-dimensional data point is located on the two vertical lines or between the two vertical lines;
and determining the outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
projecting the point cloud data of the object to a two-dimensional coordinate plane to obtain a two-dimensional data point of the object;
determining a principal direction of the object from the two-dimensional data points;
acquiring first edge projection points of the two-dimensional data points projected onto two vertical lines, wherein the direction of each vertical line is perpendicular to the main direction, and each two-dimensional data point is located on the two vertical lines or between the two vertical lines;
and determining the outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data.
According to the method, the device, the computer equipment and the readable storage medium for determining the object outer frame, the point cloud data of the object is projected to the two-dimensional coordinate plane to obtain the two-dimensional data points of the object, the main direction of the object is determined according to the two-dimensional data points, the first edge projection point of the two-dimensional data points projected to the two vertical lines is obtained, wherein the direction of each vertical line is perpendicular to the main direction, each two-dimensional data point is located between the two vertical lines, and the outer frame of the object is determined according to the first edge projection point and the third dimensional data in the point cloud data. Through considering the principal direction of the object on the two-dimensional plane, only need with two-dimensional data point projection to perpendicular with the principal direction, and make two-dimensional data point all be located two plumb lines or the perpendicular line between, according to the main characteristic data that first edge projection point and third dimensional data on the perpendicular line can confirm the frame fast to obtain the frame of object, effectively improved the definite efficiency of object frame.
Drawings
FIG. 1 is a diagram illustrating an exemplary embodiment of a method for determining an outer frame of an object;
FIG. 2 is a schematic flow chart illustrating a method for determining an outer frame of an object according to an embodiment;
FIG. 3 is a schematic flowchart of a first edge projection point obtaining step in one embodiment;
FIG. 4 is a flowchart illustrating a first edge proxel obtaining step in one embodiment;
FIG. 5 is a flowchart illustrating the outer frame determining step according to one embodiment;
FIG. 6 is a flow chart illustrating the primary direction determining step in one embodiment;
FIG. 7 is a flowchart illustrating a method for determining an outer frame of an object according to an embodiment;
FIG. 8 is a schematic diagram of two-dimensional projection of point cloud data in one embodiment;
FIG. 9 is a schematic view of the principal direction in one embodiment;
FIG. 10 is a diagram illustrating a vertex of a bottom surface (edge projection point) of an outer frame in one embodiment;
FIG. 11 is a schematic diagram of a bottom vertex of the outer frame in one embodiment;
FIG. 12 is a schematic view of an outer frame of an object according to an embodiment;
FIG. 13 is a diagram illustrating grid projection of point cloud data in accordance with an embodiment;
FIG. 14 is a schematic view of the principal direction in one embodiment;
FIG. 15 is a block diagram showing the structure of an apparatus for determining an outer frame of an object according to an embodiment;
FIG. 16 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for determining the outer frame of the object can be applied to the application environment shown in fig. 1. In this embodiment, taking the terminal 102 as an example of an automobile terminal, the automobile terminal emits a laser beam through a laser radar thereof, the laser beam irradiates an object and then reflects an echo signal to a receiving end of the laser radar, the automobile terminal obtains point cloud data of the object based on the received echo signal, and further determines an outer frame of the object according to the point cloud data, so as to accurately avoid the obstacle. In other embodiments, the terminal 102 may be any device that needs to perform the determination of the outer frame of the object, such as a drone, a robot, and the like.
In an embodiment, as shown in fig. 2, there is provided an object outer frame determining method, which is described by taking the method as an example applied to the terminal in fig. 1, and includes the following steps:
s202, projecting the point cloud data of the object to a two-dimensional coordinate plane to obtain a two-dimensional data point of the object.
The point cloud data refers to a set of three-dimensional coordinates including object surface sampling points. Taking laser measurement as an example, a laser radar emits a laser beam, the laser beam reflects an echo signal when irradiating an object, and the laser radar receives and processes the reflected echo signal to obtain point cloud data of a sampling point in a preset three-dimensional coordinate system.
In this embodiment, a two-dimensional coordinate system is established, and the obtained point cloud data of the object is projected onto a plane where the established two-dimensional coordinate system is located, so as to obtain two-dimensional data points of each point cloud data on the two-dimensional coordinate plane. The two-dimensional coordinate system in the two-dimensional coordinate plane can be directly obtained by abandoning one-dimensional coordinate axis (third-dimensional coordinate axis) of the three-dimensional coordinate system where the point cloud data is located, or can be reestablished by combining the point cloud data of the object after abandoning the third-dimensional coordinate axis of the three-dimensional coordinate system. And the point cloud data corresponding to the minimum third-dimensional coordinate value can be located in a two-dimensional coordinate plane, that is, the two-dimensional coordinate plane is specified as a plane where the minimum third-dimensional coordinate value in the point cloud data is located, so that the purpose of facilitating subsequent construction of the object outer frame is achieved, for example, the two-dimensional coordinate plane can be directly used as the bottom surface of the object outer frame, the height of the object outer frame can be directly used for constructing other surfaces of the object outer frame on the basis of the bottom surface, the need of recalculating the third-dimensional coordinate of the object outer frame when the object outer frame is constructed is avoided, and the calculation complexity in the construction process of the object outer frame is reduced.
When the two-dimensional coordinate plane is established by combining point cloud data of an object, the remaining two-dimensional coordinate system can be subjected to translation processing after the third coordinate axis of the three-dimensional coordinate system is abandoned, so that each point cloud data can be projected to the same quadrant of the processed two-dimensional coordinate system, and subsequent numerical processing is simplified. For example, after the third-dimensional coordinate axis is abandoned, the remaining two-dimensional coordinate system is translated, so that the cloud data of each point can be projected into the first quadrant of the two-dimensional coordinate system, the situation that the coordinate value of the two-dimensional data point is negative can be avoided, and the subsequent processing is facilitated. As shown in fig. 8, a schematic diagram of projecting the original three-dimensional point cloud data to the first quadrant in the XY two-dimensional coordinate system after discarding the Z coordinate axis of the original three-dimensional coordinate system is given.
And S204, determining the main direction of the object according to the two-dimensional data points.
The main direction refers to the main orientation of the object. By processing the two-dimensional data points, a main gathering direction of the two-dimensional data points is obtained, and the direction is taken as a main direction of the object. The processing method comprises but is not limited to: hough line detection, least squares and principal component analysis. For example, a Hough line detection method is adopted to determine the direction of a line passing through the most two-dimensional data points as a main direction; or performing straight line fitting on the two-dimensional data points by adopting a least square method, and taking the fitted straight line direction as the main direction of the object. FIG. 9 shows the principal direction in one embodiment, the determined principal direction being L 0 The direction angle is alpha along the direction of the straight line.
And S206, acquiring first edge projection points of the two-dimensional data points projected onto the two vertical lines, wherein the direction of each vertical line is vertical to the main direction, and each two-dimensional data point is positioned on the two vertical lines or between the two vertical lines.
In particular, according to the principalAnd projecting each two-dimensional data point onto the two vertical lines to obtain a first edge projection point on the two vertical lines. The first edge projection point refers to a projection point of two ends of the two-dimensional data point projected onto the vertical line. It will be appreciated that each perpendicular has two first edge projection points, for a total of four edge projection points. As shown in FIG. 10, L 2 And L 3 Two-dimensional data points are respectively projected to L as two perpendicular lines with the directions perpendicular to the main direction 2 And L 3 Can obtain P 1 、P 2 、P 3 And P 4 Four first edge projection points.
And S208, determining the outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data.
The third dimension data is a coordinate value in the vertical direction of the two-dimensional coordinate plane in the point cloud data, or a coordinate value (third dimension coordinate value) in the third dimension coordinate axis direction in the point cloud data. For example, in fig. 8, the third dimensional data is coordinate values in the Z-axis direction in the point cloud data. In this embodiment, a vertex of the outer frame of the object is determined according to the first edge projection point and the third dimensional data in the point cloud data, and the outer frame of the object can be obtained based on the determined vertex. The outer frame of the object is a cuboid outer frame, the vertex of one surface (hereinafter referred to as the bottom surface) of the outer frame of the object can be determined according to the first edge projection point, and the vertex of the opposite top surface can be determined by combining the third dimensional data.
In one embodiment, the first edge projection point can be used as the vertex of the bottom surface of the outer frame of the object, such as P in fig. 10 1 、P 2 、P 3 And P 4 All the two-dimensional data points can be ensured to be positioned in a rectangle formed by four first edge projection points as vertexes, so that all the point cloud data can be contained in the corresponding object outer frame, and the outer frame of the object is minimized.
In another embodiment, the two perpendicular lines may be located at two dimensions and separated from the first edge projection point by a first predetermined distanceThe point in the opposite direction of the point aggregation is taken as the vertex of the bottom surface of the outer frame of the object, as P in FIG. 11 1 ′、P 2 ′、P 3 ' and P 4 '. As can be seen from FIG. 11, the base point P is based on 1 ′、P 2 ′、P 3 ' and P 4 ' determined object outline, compared to the projection point P based on the first edge 1 、P 2 、P 3 And P 4 The determined object outer frame can provide certain redundant space to ensure that the object can be completely surrounded by the outer frame. The first preset distance may be configured according to a size of a requirement for the redundant space, and is not limited herein.
Because each two-dimensional data point is located two plumb lines or between two plumb lines, first edge projection point is the projection point at two ends on two-dimensional data point projection to the plumb line, consequently, can ensure that all two-dimensional data points are located the rectangle of constituteing by the summit that four first projection points confirm, and then can include all point cloud data in the assurance object frame that corresponds, also guarantee the validity of object frame.
Above-mentioned object frame determining method obtains two-dimensional data point through with point cloud data projection to two-dimensional coordinate plane, the principal direction based on two-dimensional data point determination object, only need with two-dimensional data point projection to perpendicular with the principal direction, and make two-dimensional data point all be located two plumb lines or the perpendicular line between, according to the main characteristic data of frame can be confirmed fast to first edge projection point and third dimensional data on the perpendicular line, thereby obtain the frame of object, the determination efficiency of object frame has effectively been improved.
In one embodiment, as shown in fig. 3, step S206 further includes:
s302, a second edge projection point of the two-dimensional data point projected to a first straight line is obtained, and the direction of the first straight line is parallel to the main direction.
Specifically, a first straight line parallel to the main direction is made according to the main direction, and the first straight line only needs to satisfy the condition that the direction is parallel to (including coinciding with) the main direction. And projecting the two-dimensional data points onto the first straight line to obtain a second edge projection point on the first straight line. Wherein the second edge projection point isThe two-dimensional data points are projected to two ends of a first straight line. It will be appreciated that the first line has two second edge projection points. As shown in FIG. 10, L 1 Is a direction and a main direction L 0 Projecting the two-dimensional data point to the vertical line by the parallel first straight line to obtain H 1 And H 2 Two second edge projection points.
Further, in order to facilitate the calculation of the coordinates of the second edge projection point, a first straight line passing through the origin of the two-dimensional coordinate system may be made to simplify the equation of the first straight line, thereby simplifying the calculation process of the coordinates of the second edge projection point. L as shown in FIG. 10 1 。
S304, two perpendicular lines which are perpendicular to the first straight line and respectively pass through any one second edge projection point are determined.
In this embodiment, a perpendicular line perpendicular to the first line is drawn through one second edge projection point. Because there are two second edge projection points, the two perpendicular lines are obtained. And because two perpendicular lines respectively pass one of the second edge projection points, all the two-dimensional data points can be ensured to be positioned on the two perpendicular lines or between the two perpendicular lines.
S306, acquiring a first edge projection point of the two-dimensional data point projected onto the two vertical lines.
And projecting each two-dimensional data point to two vertical lines to obtain first edge projection points on the two vertical lines. Because each two-dimensional data point is located two plumb lines or between two plumb lines, first edge projection point is the projection point at two ends on two-dimensional data point projection to the plumb line, consequently, can ensure that all two-dimensional data points are located four first projection points and regard as the rectangle that the summit is constituteed in, and then can include all point cloud data in the assurance object frame that corresponds to the frame of minimizing object improves the accuracy of the frame of object.
In one embodiment, as shown in fig. 4, step S206 further includes:
s402, acquiring a second edge projection point of the two-dimensional data point projected to a first straight line, wherein the direction of the first straight line is parallel to the main direction.
S404, two vertical lines perpendicular to the first straight line are determined, and the second edge projection point is located between the intersection points of the vertical lines and the first straight line.
Specifically, two intersection points of the first straight line and the vertical line thereof are determined according to the second edge projection point and the second preset distance, and two vertical lines perpendicular to the first straight line are made by crossing the intersection points. The second edge projection points are located between the intersection points of the vertical lines and the first straight line, and the intersection points are away from the nearest second edge projection points by a second preset distance. The second preset distance may be configured according to a size of a requirement for the redundant space, and is not limited herein. In this example, all two-dimensional data points lie between two perpendicular lines.
The present embodiment differs from the embodiment shown in fig. 3 in that: in the embodiment, the second edge projection point is located between the intersection points of the vertical lines and the first straight line, and in the embodiment shown in fig. 3, the second edge projection point is the intersection point of the vertical lines and the first straight line. As shown in FIG. 11, the second edge projection point is H 1 And H 2 And the perpendicular line L 2 ′、L 3 ' the intersections with the first straight line are each H 1 ′、H 2 '. The purpose of this is to provide a certain redundant space for the range surrounded by the outer frame, and to ensure that the object can be completely surrounded by the outer frame.
S406, acquiring a first edge projection point of the two-dimensional data point projected onto the two vertical lines.
In one embodiment, as shown in fig. 5, step S208 further includes:
s502, determining the minimum value and the maximum value of the third-dimensional data in the point cloud data.
And S504, determining the height of the outer frame of the object according to the minimum value and the maximum value.
Specifically, the third dimensional data in the point cloud data are compared, the minimum value and the maximum value of the third dimensional data are determined, and the maximum value and the minimum value are subtracted to obtain the height of the outer frame of the object.
S506, determining the outer frame of the object according to the first edge projection point and the height.
As described above, the vertex of the bottom surface of the outer frame of the object can be determined according to the first edge projection point, and the obtained height is combined, so that the outer frame of the object can be determined.
Specifically, step S506 includes: determining each vertex of the outer frame of the object according to the first edge projection point and the height; and determining the outer frame of the object according to the vertexes.
In this embodiment, the vertex of the bottom surface of the object outer frame can be determined according to the first edge projection point, the vertex of the top surface of the object outer frame can be determined by combining the obtained heights, and the outer frame of the object can be constructed based on the vertex of the bottom surface and the vertex of the top surface. As shown in FIG. 12, P is 1 、P 2 、P 3 And P 4 Determining the top vertex P of the object outer frame in combination with the height as the bottom vertex of the object outer frame 5 、P 6 、P 7 And P 8 Thereby obtaining an object outer frame shown by a dotted line. The actual coordinate values of the vertices of the outer frame (i.e., the coordinate values in the three-dimensional coordinate system where the point cloud data is located) may be obtained by conversion according to the coordinate values of the vertices in the two-dimensional coordinate system and the relationship between the two-dimensional coordinate system and the three-dimensional coordinate system.
In one embodiment, step S202 includes: and performing grid projection on the point cloud data of the object on a two-dimensional coordinate plane to obtain two-dimensional data points of the object, and taking the grid where the two-dimensional data points are located as an effective grid.
The grid projection refers to projecting the point cloud data to a two-dimensional coordinate plane including a grid. As shown in fig. 13, the point cloud data of the object is subjected to grid projection on a two-dimensional coordinate plane to obtain two-dimensional data points of the object. Meanwhile, the grid where the two-dimensional data points are located is taken as an effective grid, such as the non-blank grid shown in fig. 13.
Further, step S204 includes: determining a second straight line passing through the most effective grids; the main direction of the object is determined from the direction of the second line.
Specifically, based on a preset main direction detection method, a second straight line passing through the most effective grids is determined, and the main direction of the object is determined according to the direction of the second straight line. As shown in fig. 14, the second straight line L 0 The effective grid through which to pass is made more, so L is 0 The direction of the main direction of the object. The preset main direction detection method includes, but is not limited to, a hough line detection method.
And when the determined second straight line only comprises one straight line, taking the direction of the second straight line as the main direction of the object. Further, referring to fig. 6, when the determined second straight line includes a plurality of lines, determining the main direction of the object according to the direction of the second straight line includes:
and S602, projecting the two-dimensional data points to each second straight line respectively.
And S604, acquiring the projection length of each second straight line.
And S606, taking the direction of the second straight line corresponding to the maximum projection length as the main direction of the object.
Wherein the projection length is the distance between the projection points at the two ends of the second straight line. It can be understood that although the number of the grids passed by the plurality of second straight lines is the same, the projection lengths of the two-dimensional data points on the respective second straight lines are different, and the direction of the second straight line corresponding to the maximum projection length is taken as the main direction in the present embodiment.
By adopting the grid projection mode, the main direction of the object can be quickly determined, conditions are provided for subsequent data point processing, and the efficiency and the accuracy of determining the outer frame of the object are improved.
In one embodiment, as shown in fig. 7, a method for determining an outer frame of an object includes the following steps:
s701, performing grid projection on the point cloud data of the object on a two-dimensional coordinate plane to obtain two-dimensional data points of the object, and taking a grid where the two-dimensional data points are located as an effective grid.
S702, determining the second straight line passing through the most effective grids.
S703, determine whether the second straight line includes a plurality of lines. If yes, go to step S705; otherwise, step S704 is executed.
And S704, taking the direction of the second straight line as the main direction of the object. Step S708 is then performed.
And S705, respectively projecting the two-dimensional data points to each second straight line.
And S706, acquiring the projection length of each second straight line.
In step S707, the direction of the second straight line corresponding to the maximum projection length is set as the main direction of the object.
S708, acquiring a second edge projection point of the two-dimensional data point projected to the first straight line, wherein the direction of the first straight line is parallel to the main direction.
And S709, determining two perpendicular lines which are perpendicular to the first straight line and respectively pass through any second edge projection point.
And S710, acquiring a first edge projection point of the two-dimensional data point projected to the two vertical lines.
And S711, determining the minimum value and the maximum value of the third-dimensional data in the point cloud data.
And S712, determining the height of the outer frame of the object according to the minimum value and the maximum value.
S713, determining each vertex of the outer frame of the object according to the first edge projection point and the height.
And S714, determining the outer frame of the object according to each vertex.
In the object outer frame determining method, the point cloud data is projected to the two-dimensional coordinate plane to obtain the two-dimensional data points, the main direction of the object is determined based on the two-dimensional data points, the two-dimensional data points are projected to the perpendicular line which is perpendicular to the main direction and enables the two-dimensional data points to be located on the two perpendicular lines or between the two perpendicular lines, each vertex of the outer frame can be rapidly determined according to the first edge projection point and the third dimensional data on the perpendicular line, and the determining efficiency of the object outer frame is effectively improved. Because each two-dimensional data point is located two plumb lines or between two plumb lines, first edge projection point is the projection point at two ends on two-dimensional data point projection to the plumb line, consequently, can ensure that all two-dimensional data points are located four first projection points and regard as the rectangle that the summit is constituteed in, and then can include all point cloud data in the assurance object frame that corresponds to the frame of minimizing object improves the accuracy of the frame of object. When the object is the barrier, the barrier can be accurately avoided according to the outer frame of the object.
It should be understood that although the various steps in the flow charts of fig. 2-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 15, there is provided an object outline determining apparatus 1500, including: two-dimensional projection module 1502, main direction determination module 1504, data point projection module 1506, and outline determination module 1508, wherein:
the two-dimensional projection module 1502 is configured to project the point cloud data of the object onto a two-dimensional coordinate plane to obtain a two-dimensional data point of the object.
Specifically, the two-dimensional projection module 1502 establishes a two-dimensional coordinate system, projects the obtained point cloud data of the object onto a plane where the established two-dimensional coordinate system is located, and obtains two-dimensional data points of each point cloud data on the two-dimensional coordinate plane. The two-dimensional coordinate system in the two-dimensional coordinate plane can be directly obtained by abandoning one-dimensional coordinate axis (third-dimensional coordinate axis) of the three-dimensional coordinate system where the point cloud data is located, or can be reestablished by combining the point cloud data of the object after abandoning the third-dimensional coordinate axis of the three-dimensional coordinate system. And the point cloud data corresponding to the minimum third coordinate value is located in the two-dimensional coordinate plane, that is, the two-dimensional coordinate plane is defined as the plane where the minimum third coordinate value in the point cloud data is located, so that the purpose of facilitating the subsequent construction of the object outer frame is achieved.
A principal direction determination module 1504 for determining the principal direction of the object from the two-dimensional data points.
The principal direction determination module 1504 obtains the principal direction of aggregation of the two-dimensional data points by processing the two-dimensional data points, taking that direction as the principal direction of the object. For example, a hough line detection method may be adopted to obtain the principal direction; or performing straight line fitting on the two-dimensional data points by adopting a least square method, and taking the fitted straight line direction as the main direction of the object.
The data point projection module 1506 is configured to obtain a first edge projection point at which the two-dimensional data points are projected onto the two vertical lines, where a direction of each vertical line is perpendicular to the main direction, and each two-dimensional data point is located on the two vertical lines or between the two vertical lines.
Specifically, two perpendicular lines perpendicular to the main direction are made according to the main direction, so that each two-dimensional data point is located on the two perpendicular lines or between the two perpendicular lines, and each two-dimensional data point is projected onto the two perpendicular lines to obtain a first edge projection point on the two perpendicular lines.
An outer frame determining module 1508, configured to determine an outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data.
In this embodiment, a vertex of the outer frame of the object is determined according to the first edge projection point and the third dimensional data in the point cloud data, and the outer frame of the object can be obtained based on the determined vertex.
Above-mentioned object frame determining means, obtain two-dimensional data point through with point cloud data projection to two-dimensional coordinate plane, the principal direction based on object is confirmed to two-dimensional data point, only need with two-dimensional data point projection to perpendicular with the principal direction, and make two-dimensional data point all be located two plumbs or the perpendicular line between, according to the leading feature data of first edge projection point and the third dimensional data on the perpendicular line can confirm the frame fast, thereby obtain the frame of object, the determination efficiency of object frame has effectively been improved.
In one embodiment, the data point projection module 1506 includes a projection sub-module and a vertical determination module. Wherein:
and the projection submodule is used for acquiring a second edge projection point of the two-dimensional data point projected to a first straight line, and the direction of the first straight line is parallel to the main direction (including superposition). Specifically, a first straight line parallel to the main direction is made according to the main direction, and the first straight line only needs to satisfy the condition that the direction is parallel to the main direction. And projecting the two-dimensional data points to the first straight line to obtain second edge projection points on the first straight line.
And the vertical line determining module is used for determining two vertical lines which are perpendicular to the first vertical line and respectively pass through any second edge projection point. In this embodiment, a perpendicular line perpendicular to the first line is drawn through one second edge projection point. Because there are two second edge projection points, the two perpendicular lines are obtained. And because two perpendicular lines respectively pass one of the second edge projection points, all the two-dimensional data points can be ensured to be positioned on the two perpendicular lines or between the two perpendicular lines.
Further, the projection submodule is also used for acquiring a first edge projection point of the two-dimensional data point projected onto the two vertical lines. By projecting each two-dimensional data point onto two perpendicular lines, a first edge projection point on the two perpendicular lines is obtained.
In an embodiment, the vertical line determining module is further configured to determine two vertical lines perpendicular to the first straight line, and the second edge projection point is located between intersection points of the respective vertical lines and the first straight line. Specifically, two intersection points of the first straight line and the vertical line thereof are determined according to the second edge projection point and the second preset distance, and two vertical lines perpendicular to the first straight line are made by crossing the intersection points. Through the processing, a certain redundant space can be provided for the range surrounded by the outer frame, and the object can be ensured to be completely surrounded by the outer frame.
In one embodiment, the outer frame determining module 1508 includes: a maximum value determining module, a height determining module and an outer frame determining submodule. Wherein:
and the most value determining module is used for determining the minimum value and the maximum value of the third-dimensional data in the point cloud data.
And the height determining module is used for determining the height of the outer frame of the object according to the minimum value and the maximum value. Specifically, the third dimensional data in the point cloud data are compared, the minimum value and the maximum value of the third dimensional data are determined, and the maximum value and the minimum value are subtracted to obtain the height of the outer frame of the object.
And the outer frame determining submodule is used for determining the outer frame of the object according to the first edge projection point and the height. As described above, the vertex of the bottom surface of the outer frame of the object can be determined according to the first edge projection point, and the obtained height is combined, so that the outer frame of the object can be determined.
Specifically, the outer frame determining submodule is further configured to determine each vertex of the outer frame of the object according to the first edge projection point and the height; and determining the outer frame of the object according to the vertexes.
In this embodiment, the bottom vertex of the outer frame of the object may be determined according to the first edge projection point, the top vertex of the outer frame of the object may be determined by combining the obtained heights, and the outer frame of the object may be constructed based on the bottom vertex and the top vertex.
In an embodiment, the two-dimensional projection module 1502 is further configured to perform grid projection on the point cloud data of the object on a two-dimensional coordinate plane, obtain two-dimensional data points of the object, and use a grid where the two-dimensional data points are located as an effective grid.
The primary direction determination module 1504 further includes a straight line determination module and a primary direction determination sub-module. The straight line determining module is used for determining a second straight line passing through the effective grid most; and the main direction determining submodule is used for determining the main direction of the object according to the direction of the second straight line.
When the determined second straight line only comprises one straight line, the main direction determining submodule directly takes the direction of the second straight line as the main direction of the object; when the determined second straight line includes a plurality of lines, the main direction determination submodule determines the direction of one second straight line as the main direction from among all the second straight lines.
Specifically, the main direction determining submodule is configured to project the two-dimensional data points to each second straight line, obtain a projection length on each second straight line, and use a direction of the second straight line corresponding to the maximum projection length as the main direction of the object.
Above-mentioned object frame determining means obtains two-dimensional data point through with point cloud data projection to two-dimensional coordinate plane, based on the principal direction of two-dimensional data point determination object, only need with two-dimensional data point projection to perpendicular with the principal direction, and make two-dimensional data point all be located two plumb lines or the perpendicular line between, according to each summit that first edge projection point and third dimensional data on the perpendicular line can confirm the frame fast, effectively improved the deterministic efficiency of object frame. Because each two-dimensional data point is located two plumb lines or between two plumb lines, first edge projection point is the projection point at two ends on two-dimensional data point projection to the plumb line, consequently, can ensure that all two-dimensional data points are located four first projection points and regard as the rectangle that the summit is constituteed in, and then can include all point cloud data in the assurance object frame that corresponds to the frame of minimizing object improves the accuracy of the frame of object. When the object is the barrier, the barrier can be accurately avoided according to the outer frame of the object.
For the specific definition of the object outline determining apparatus, the above definition of the object outline determining method can be referred to, and details are not repeated here. The above-mentioned modules in the object outline determining apparatus can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 16. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method for determining an outer frame of an object. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the configuration shown in fig. 16 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
projecting the point cloud data of the object to a two-dimensional coordinate plane to obtain a two-dimensional data point of the object;
determining the main direction of the object according to the two-dimensional data points;
acquiring first edge projection points of two-dimensional data points projected onto two vertical lines, wherein the direction of each vertical line is vertical to the main direction, and each two-dimensional data point is positioned on the two vertical lines or between the two vertical lines;
and determining the outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a second edge projection point of the two-dimensional data point projected to a first straight line, wherein the direction of the first straight line is parallel to the main direction;
determining two perpendicular lines which are perpendicular to the first straight line and respectively pass through any one second edge projection point;
and acquiring a first edge projection point of the two-dimensional data point projected onto two vertical lines.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a second edge projection point of the two-dimensional data point projected to a first straight line, wherein the direction of the first straight line is parallel to the main direction;
determining two vertical lines perpendicular to the first straight line, wherein the second edge projection point is positioned between the intersection points of the vertical lines and the first straight line;
and acquiring a first edge projection point of the two-dimensional data point projected onto two vertical lines.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining the minimum value and the maximum value of the third-dimensional data in the point cloud data;
determining the height of the outer frame of the object according to the minimum value and the maximum value;
and determining the outer frame of the object according to the first edge projection point and the height.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining each vertex of the outer frame of the object according to the first edge projection point and the height;
and determining the outer frame of the object according to the vertexes.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
performing grid projection on the point cloud data of the object on a two-dimensional coordinate plane to obtain two-dimensional data points of the object, and taking a grid where the two-dimensional data points are located as an effective grid;
determining a second straight line passing through the most effective grids; the main direction of the object is determined from the direction of the second line.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
respectively projecting the two-dimensional data points to each second straight line;
acquiring the projection length of each second straight line;
and taking the direction of the second straight line corresponding to the maximum projection length as the main direction of the object.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
projecting the point cloud data of the object to a two-dimensional coordinate plane to obtain two-dimensional data points of the object;
determining the main direction of the object according to the two-dimensional data points;
acquiring first edge projection points of two-dimensional data points projected onto two vertical lines, wherein the direction of each vertical line is vertical to the main direction, and each two-dimensional data point is positioned on the two vertical lines or between the two vertical lines;
and determining the outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a second edge projection point of the two-dimensional data point projected to a first straight line, wherein the direction of the first straight line is parallel to the main direction;
determining two perpendicular lines which are perpendicular to the first straight line and respectively pass through any one second edge projection point;
and acquiring a first edge projection point of the two-dimensional data point projected onto two vertical lines.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a second edge projection point of the two-dimensional data point projected to a first straight line, wherein the direction of the first straight line is parallel to the main direction;
determining two vertical lines perpendicular to the first straight line, wherein the second edge projection point is positioned between the intersection points of the vertical lines and the first straight line;
and acquiring a first edge projection point of the two-dimensional data point projected onto the two vertical lines.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the minimum value and the maximum value of the third-dimensional data in the point cloud data;
determining the height of the outer frame of the object according to the minimum value and the maximum value;
and determining the outer frame of the object according to the first edge projection point and the height.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining each vertex of the outer frame of the object according to the first edge projection point and the height;
and determining the outer frame of the object according to the vertexes.
In one embodiment, the computer program when executed by the processor further performs the steps of:
performing grid projection on the point cloud data of the object on a two-dimensional coordinate plane to obtain two-dimensional data points of the object, and taking a grid where the two-dimensional data points are located as an effective grid;
determining a second straight line passing through the most effective grids; the main direction of the object is determined from the direction of the second line.
In one embodiment, the computer program when executed by the processor further performs the steps of:
respectively projecting the two-dimensional data points to each second straight line;
acquiring the projection length of each second straight line;
and taking the direction of the second straight line corresponding to the maximum projection length as the main direction of the object.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for determining an outer frame of an object, the method comprising:
projecting the point cloud data of the object to a two-dimensional coordinate plane to obtain a two-dimensional data point of the object;
determining a principal direction of the object from the two-dimensional data points;
acquiring first edge projection points of the two-dimensional data points projected onto two vertical lines, wherein the direction of each vertical line is perpendicular to the main direction, and each two-dimensional data point is located on the two vertical lines or between the two vertical lines; the first edge projection point refers to a projection point of two-dimensional data points projected to two ends of a vertical line;
and determining the outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data.
2. The method of claim 1, wherein said obtaining a first edge projection point at which the two-dimensional data points are projected onto two perpendicular lines comprises:
acquiring a second edge projection point of the two-dimensional data point projected to a first straight line, wherein the direction of the first straight line is parallel to the main direction; the second edge projection point refers to a projection point of the two-dimensional data point projected to two ends of the first straight line;
determining two perpendicular lines which are perpendicular to the first straight line and respectively pass through any one of the second edge projection points;
and acquiring a first edge projection point of the two-dimensional data points projected to the two vertical lines.
3. The method of claim 1, wherein said obtaining a first edge projection point at which the two-dimensional data points are projected onto two perpendicular lines comprises:
acquiring a second edge projection point of the two-dimensional data point projected to a first straight line, wherein the direction of the first straight line is parallel to the main direction; the second edge projection point refers to a projection point of the two-dimensional data point projected to two ends of the first straight line;
determining two vertical lines perpendicular to the first vertical line, wherein the second edge projection point is located between the intersection points of the vertical lines and the first vertical line;
and acquiring a first edge projection point of the two-dimensional data points projected onto the two vertical lines.
4. The method of claim 1, wherein determining the outer frame of the object from the first edge projection point and a third dimension of the point cloud data comprises:
determining the minimum value and the maximum value of third-dimensional data in the point cloud data;
determining the height of the outer frame of the object according to the minimum value and the maximum value;
and determining the outer frame of the object according to the first edge projection point and the height.
5. The method of claim 4, wherein determining the outer frame of the object based on the first edge projection point and the height comprises:
determining each vertex of the outer frame of the object according to the first edge projection point and the height;
and determining the outer frame of the object according to each vertex.
6. The method of claim 1, wherein projecting the point cloud data of the object onto a two-dimensional coordinate plane to obtain two-dimensional data points of the object comprises: performing grid projection on the point cloud data of the object on a two-dimensional coordinate plane to obtain two-dimensional data points of the object, and taking a grid where the two-dimensional data points are located as an effective grid;
the determining a primary direction of the object from the two-dimensional data points comprises: determining a second straight line passing through the effective grid most; and determining the main direction of the object according to the direction of the second straight line.
7. The method according to claim 6, wherein when the determined second straight line includes a plurality of lines, the determining the main direction of the object according to the direction of the second straight line includes:
projecting the two-dimensional data points to each second straight line respectively;
acquiring the projection length of each second straight line; the projection length is the distance between the projection points at the two ends of the second straight line;
and taking the direction of the second straight line corresponding to the maximum projection length as the main direction of the object.
8. An apparatus for determining an outer frame of an object, the apparatus comprising:
the two-dimensional projection module is used for projecting the point cloud data of the object to a two-dimensional coordinate plane to obtain two-dimensional data points of the object;
the main direction determining module is used for determining the main direction of the object according to the two-dimensional data points;
a data point projection module, configured to obtain a first edge projection point at which the two-dimensional data points are projected onto two perpendicular lines, where a direction of each perpendicular line is perpendicular to the main direction, and each two-dimensional data point is located on the two perpendicular lines or between the two perpendicular lines; the first edge projection point refers to a projection point of two ends of a two-dimensional data point projected to a vertical line;
and the outer frame determining module is used for determining the outer frame of the object according to the first edge projection point and the third dimensional data in the point cloud data.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program performs the steps of the method according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| CN111797734B (en) * | 2020-06-22 | 2024-05-24 | 广州视源电子科技股份有限公司 | Vehicle point cloud data processing method, device, equipment and storage medium |
| CN112288759B (en) * | 2020-10-26 | 2024-02-09 | 广东博智林机器人有限公司 | Boundary extraction method, device, equipment and storage medium |
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